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In Phase I, the goal is to explore and develop situation awareness and assistive navigation technologies to provide blind or visually impaired persons with obstacle avoidance and intelligent wayfinding capabilities in indoor environments by using wearable sensors (e.g., cameras, 3D-orientation sensors, pedometers). In Phase II, the technology will be further improved and research will be extended to outdoor pedestrian environments to provide blind users with waypoint navigation, path planning, and advanced warning of events through interaction with global positioning system (GPS), Geographic Information System (GIS), and Intelligent Transportation System (ITS) infrastructure.